#ifndef MOTOR_INIT_H
#define MOTOR_INIT_H
//这个头文件主要用于存储电机的初始化参数，主要是通过Simplefoc studio测得的参数
class GBM5010_Motor_Angle_Control_Init
{
    //这个是我调节之后适合于角度控制模式下，针对于GBM5010无刷电机的参数设置
public:
    float PID_velocity_P = 1.0;
    float PID_velocity_I = 0.2;
	float PID_velocity_D = 0.0;
	float PID_velocity_output_ramp = 1000.0;
	float PID_velocity_limit = 25.0;
	// Low pass filtering time constant
	//速度低通滤波时间常数
	float LPF_velocity_Tf = 0.2;
	// angle loop PID
	float P_angle_P = 16.0;
	float P_angle_I = 0.5;
	float P_angle_D = 0.05;
	float P_angle_output_ramp = 1000.0;
	float P_angle_limit = 20.0;
	// Low pass filtering time constant
	float LPF_angle_Tf = 0.0;
    float voltage_limit = 24.0;
};

#endif